Industrial Technology Research Institute

Guan-Wei Su

Jun-Yi Jiang

Yen-Cheng Chen

Chen-Yu Kai

Qi-Zheng Yang

Kai-Ming Pan

Chung-Yin Chang

A pick-and-place system includes a movement mechanism, an adjustment mechanism, and a clamping mechanism. The adjustment mechanism includes a first coupling component, a second coupling component, and a driving assembly. The first coupling component is mounted on the movement mechanism. The second coupling component is movably disposed on the first coupling component. The driving assembly is configured to be connected to the first coupling component and the second coupling component so as to force the first coupling component and the second coupling component to move relative to each other. The clamping mechanism is mounted on the second coupling component of the adjustment mechanism.

Adjustment mechanism, pick-and-place system, and operation method thereof

A mechanical arm calibration system and a mechanical arm calibration method are provided. The method includes: locating a position of an end point of a mechanical arm in a three-dimensional space to calculate an actual motion trajectory of the end point when the mechanical arm is operating; retrieving link parameters of the mechanical arm, randomly generating sets of particles including compensation amounts for the link parameters through particle swarm optimization (PSO), importing the compensation amounts of each of the sets of particles into forward kinematics after addition of the corresponding link parameters, to calculate an adaptive motion trajectory of the end point; calculating position errors between the adaptive motion trajectory and the actual motion trajectory of each of the sets of particles for a fitness value of the PSO to estimate a group best position; and updating the link parameters by the compensation amounts corresponding to the group best position.

Mechanical arm calibration system and mechanical arm calibration method

A drilling system including a feed control module, a force control module, a hole breaking control module, a conversion module and a computing unit is provided. The feed control module sets a feed force threshold and a feed speed threshold for the computing unit to determine whether the current mode satisfies a first conversion condition. The hole breaking control module sets a drilling penetration force threshold and a drilling penetration speed threshold for the computing unit to determine whether the current mode satisfies a second conversion condition. The conversion module informs to change the feed force and the feed speed according to the determination results of the two conversion conditions. The force control module provides the feed force. With the drilling system, possible impact on the workpiece due to resistance change which occurs when the drill just touches and nearly gets through the workpiece will be reduced.

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Tainan, Taiwan

Guan-Wei Su